<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: segmentation/include/pcl/segmentation/impl/region_growing.hpp 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('region__growing_8hpp_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">region_growing.hpp</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * Author : Sergey Ushakov</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * Email  : mine_all_mine@bk.ru</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_REGION_GROWING_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_REGION_GROWING_HPP_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/region_growing.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/search/search.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/search/kdtree.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;queue&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;time.h&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt;</div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a32553136086e9bab3f0f9482ae088576">   57</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a32553136086e9bab3f0f9482ae088576">pcl::RegionGrowing&lt;PointT, NormalT&gt;::RegionGrowing</a> () :</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  min_pts_per_cluster_ (1),</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  max_pts_per_cluster_ (std::numeric_limits&lt;int&gt;::max ()),</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  smooth_mode_flag_ (true),</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  curvature_flag_ (true),</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  residual_flag_ (false),</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  theta_threshold_ (30.0f / 180.0f * static_cast&lt;float&gt; (M_PI)),</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  residual_threshold_ (0.05f),</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  curvature_threshold_ (0.05f),</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  neighbour_number_ (30),</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  search_ (),</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  normals_ (),</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  point_neighbours_ (0),</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  point_labels_ (0),</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  normal_flag_ (true),</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  num_pts_in_segment_ (0),</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  clusters_ (0),</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  number_of_segments_ (0)</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;{</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;}</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a32553136086e9bab3f0f9482ae088576">   79</a></span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt;</div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#abd5307cad362027812ce6703af129046">   80</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#abd5307cad362027812ce6703af129046">pcl::RegionGrowing&lt;PointT, NormalT&gt;::~RegionGrowing</a> ()</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;{</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordflow">if</span> (search_ != 0)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    search_.reset ();</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordflow">if</span> (normals_ != 0)</div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#abd5307cad362027812ce6703af129046">   85</a></span>&#160;    normals_.reset ();</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  point_neighbours_.clear ();</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  point_labels_.clear ();</div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a503eb2ff26d2ff282332c62665cdf451">   89</a></span>&#160;  num_pts_in_segment_.clear ();</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  clusters_.clear ();</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;}</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a503eb2ff26d2ff282332c62665cdf451">   95</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a503eb2ff26d2ff282332c62665cdf451">pcl::RegionGrowing&lt;PointT, NormalT&gt;::getMinClusterSize</a> ()</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;{</div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a7bef7a2920c179c99928acc7474c41ab">   97</a></span>&#160;  <span class="keywordflow">return</span> (min_pts_per_cluster_);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;}</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a51294408aa0da3e72690e9ab03bae90d">  101</a></span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#ac040a7d547bb09b295386045725aa848">  102</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#ac040a7d547bb09b295386045725aa848">pcl::RegionGrowing&lt;PointT, NormalT&gt;::setMinClusterSize</a> (<span class="keywordtype">int</span> min_cluster_size)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;{</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  min_pts_per_cluster_ = min_cluster_size;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;}</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a7bef7a2920c179c99928acc7474c41ab">  109</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a7bef7a2920c179c99928acc7474c41ab">pcl::RegionGrowing&lt;PointT, NormalT&gt;::getMaxClusterSize</a> ()</div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#ae14b6b9cb6a6aaf8872c3c965f2e6e00">  110</a></span>&#160;{</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordflow">return</span> (max_pts_per_cluster_);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;}</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a51294408aa0da3e72690e9ab03bae90d">  116</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a51294408aa0da3e72690e9ab03bae90d">pcl::RegionGrowing&lt;PointT, NormalT&gt;::setMaxClusterSize</a> (<span class="keywordtype">int</span> max_cluster_size)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;{</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  max_pts_per_cluster_ = max_cluster_size;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;}</div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#aa86a85c140e251c5a5d4223482678134">  120</a></span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#ae14b6b9cb6a6aaf8872c3c965f2e6e00">  123</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#ae14b6b9cb6a6aaf8872c3c965f2e6e00">pcl::RegionGrowing&lt;PointT, NormalT&gt;::getSmoothModeFlag</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordflow">return</span> (smooth_mode_flag_);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;}</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#af10c614af98ec42bacf015f7db6b9935">  130</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#af10c614af98ec42bacf015f7db6b9935">pcl::RegionGrowing&lt;PointT, NormalT&gt;::setSmoothModeFlag</a> (<span class="keywordtype">bool</span> value)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;{</div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a07f77c72b5c223988455944f8a86dc03">  132</a></span>&#160;  smooth_mode_flag_ = value;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;}</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#aa86a85c140e251c5a5d4223482678134">  137</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#aa86a85c140e251c5a5d4223482678134">pcl::RegionGrowing&lt;PointT, NormalT&gt;::getCurvatureTestFlag</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keywordflow">return</span> (curvature_flag_);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;}</div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#ad1846b7d16b40f3187c42c81b80abc79">  141</a></span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a1f7a093b9cdc5337309cdeabffc1cd92">  144</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a1f7a093b9cdc5337309cdeabffc1cd92">pcl::RegionGrowing&lt;PointT, NormalT&gt;::setCurvatureTestFlag</a> (<span class="keywordtype">bool</span> value)</div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a942fc25d32886ee34262e7ff3fe675bf">  145</a></span>&#160;{</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  curvature_flag_ = value;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keywordflow">if</span> (curvature_flag_ == <span class="keyword">false</span> &amp;&amp; residual_flag_ == <span class="keyword">false</span>)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    residual_flag_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;}</div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#aaa88700937bc1090bfca521a93b80f71">  151</a></span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a07f77c72b5c223988455944f8a86dc03">  154</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a07f77c72b5c223988455944f8a86dc03">pcl::RegionGrowing&lt;PointT, NormalT&gt;::getResidualTestFlag</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a8a01f23a15454f9c214be1319ff88cc8">  155</a></span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="keywordflow">return</span> (residual_flag_);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;}</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#ad1846b7d16b40f3187c42c81b80abc79">  161</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#ad1846b7d16b40f3187c42c81b80abc79">pcl::RegionGrowing&lt;PointT, NormalT&gt;::setResidualTestFlag</a> (<span class="keywordtype">bool</span> value)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;{</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  residual_flag_ = value;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a6463a53955895a5688dddbfcc8c173c2">  165</a></span>&#160;  <span class="keywordflow">if</span> (curvature_flag_ == <span class="keyword">false</span> &amp;&amp; residual_flag_ == <span class="keyword">false</span>)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    curvature_flag_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;}</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a942fc25d32886ee34262e7ff3fe675bf">  171</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a942fc25d32886ee34262e7ff3fe675bf">pcl::RegionGrowing&lt;PointT, NormalT&gt;::getSmoothnessThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="keywordflow">return</span> (theta_threshold_);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;}</div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#aa649d6423eb7c7e247d9a09bd39ec5e1">  175</a></span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#aaa88700937bc1090bfca521a93b80f71">  178</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#aaa88700937bc1090bfca521a93b80f71">pcl::RegionGrowing&lt;PointT, NormalT&gt;::setSmoothnessThreshold</a> (<span class="keywordtype">float</span> theta)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;{</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  theta_threshold_ = theta;</div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a4d2c77b68143901495b42fd0dfbb241c">  181</a></span>&#160;}</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a8a01f23a15454f9c214be1319ff88cc8">  185</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a8a01f23a15454f9c214be1319ff88cc8">pcl::RegionGrowing&lt;PointT, NormalT&gt;::getResidualThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keywordflow">return</span> (residual_threshold_);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;}</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a23191c1b6a711340a91740b3717140ff">  191</a></span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a1e3de83fe8e15eccc7f56f4f8762d936">  192</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a1e3de83fe8e15eccc7f56f4f8762d936">pcl::RegionGrowing&lt;PointT, NormalT&gt;::setResidualThreshold</a> (<span class="keywordtype">float</span> residual)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;{</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  residual_threshold_ = residual;</div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a60c617a3f8cccfa6c5f5d7e41c7ad14e">  195</a></span>&#160;}</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a6463a53955895a5688dddbfcc8c173c2">  199</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a6463a53955895a5688dddbfcc8c173c2">pcl::RegionGrowing&lt;PointT, NormalT&gt;::getCurvatureThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keywordflow">return</span> (curvature_threshold_);</div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a26a874b69b4c786886fece175990e727">  202</a></span>&#160;}</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#ad7554b09a34b2997992c44b947d4ac07">  206</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#ad7554b09a34b2997992c44b947d4ac07">pcl::RegionGrowing&lt;PointT, NormalT&gt;::setCurvatureThreshold</a> (<span class="keywordtype">float</span> curvature)</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;{</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  curvature_threshold_ = curvature;</div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a9ef8286d7ced3ff97667653b96a4bd21">  209</a></span>&#160;}</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#aa649d6423eb7c7e247d9a09bd39ec5e1">  213</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#aa649d6423eb7c7e247d9a09bd39ec5e1">pcl::RegionGrowing&lt;PointT, NormalT&gt;::getNumberOfNeighbours</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="keywordflow">return</span> (neighbour_number_);</div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a72b71b0e82a8080dcd26142968eb21e3">  216</a></span>&#160;}</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a4d2c77b68143901495b42fd0dfbb241c">  220</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a4d2c77b68143901495b42fd0dfbb241c">pcl::RegionGrowing&lt;PointT, NormalT&gt;::setNumberOfNeighbours</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> neighbour_number)</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;{</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  neighbour_number_ = neighbour_number;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;}</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keyword">typename</span> pcl::RegionGrowing&lt;PointT, NormalT&gt;::KdTreePtr</div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a9a9fdb648434826b0bf7cd1a616f85f5">  227</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a9a9fdb648434826b0bf7cd1a616f85f5">pcl::RegionGrowing&lt;PointT, NormalT&gt;::getSearchMethod</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="keywordflow">return</span> (search_);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;}</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a1aed39b32b17e43362d5d72112e6e3d2">  234</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a23191c1b6a711340a91740b3717140ff">pcl::RegionGrowing&lt;PointT, NormalT&gt;::setSearchMethod</a> (<span class="keyword">const</span> KdTreePtr&amp; tree)</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;{</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keywordflow">if</span> (search_ != 0)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    search_.reset ();</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  search_ = tree;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;}</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keyword">typename</span> pcl::RegionGrowing&lt;PointT, NormalT&gt;::NormalPtr</div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a60c617a3f8cccfa6c5f5d7e41c7ad14e">  244</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a60c617a3f8cccfa6c5f5d7e41c7ad14e">pcl::RegionGrowing&lt;PointT, NormalT&gt;::getInputNormals</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="keywordflow">return</span> (normals_);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;}</div>
<div class="line"><a name="l00248"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a541edb18fa47990020ceb640186c95dc">  248</a></span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a26a874b69b4c786886fece175990e727">  251</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a26a874b69b4c786886fece175990e727">pcl::RegionGrowing&lt;PointT, NormalT&gt;::setInputNormals</a> (<span class="keyword">const</span> NormalPtr&amp; norm)</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;{</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keywordflow">if</span> (normals_ != 0)</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    normals_.reset ();</div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#ad9fdb4c1edc24da8b149866dcfc819d5">  255</a></span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  normals_ = norm;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;}</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a9ef8286d7ced3ff97667653b96a4bd21">  261</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a9ef8286d7ced3ff97667653b96a4bd21">pcl::RegionGrowing&lt;PointT, NormalT&gt;::extract</a> (std::vector &lt;pcl::PointIndices&gt;&amp; clusters)</div>
<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a3ac4219f1374555e9dd76a7338905a6d">  262</a></span>&#160;{</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  clusters_.clear ();</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  clusters.clear ();</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  point_neighbours_.clear ();</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  point_labels_.clear ();</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  num_pts_in_segment_.clear ();</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  number_of_segments_ = 0;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <span class="keywordtype">bool</span> segmentation_is_possible = initCompute ();</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="keywordflow">if</span> ( !segmentation_is_possible )</div>
<div class="line"><a name="l00272"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a71c8914239d04758cc94e59886b8308a">  272</a></span>&#160;  {</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    deinitCompute ();</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  }</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  segmentation_is_possible = prepareForSegmentation ();</div>
<div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#af6effde13de0fe92a2e006dcdcde79ef">  278</a></span>&#160;  <span class="keywordflow">if</span> ( !segmentation_is_possible )</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  {</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    deinitCompute ();</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  }</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  findPointNeighbours ();</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  applySmoothRegionGrowingAlgorithm ();</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  assembleRegions ();</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  clusters.resize (clusters_.size ());</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  std::vector&lt;pcl::PointIndices&gt;::iterator cluster_iter_input = clusters.begin ();</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  <span class="keywordflow">for</span> (std::vector&lt;pcl::PointIndices&gt;::const_iterator cluster_iter = clusters_.begin (); cluster_iter != clusters_.end (); cluster_iter++)</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  {</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="keywordflow">if</span> ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cluster_iter-&gt;indices.size ()) &gt;= min_pts_per_cluster_) &amp;&amp;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cluster_iter-&gt;indices.size ()) &lt;= max_pts_per_cluster_))</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    {</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      *cluster_iter_input = *cluster_iter;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      cluster_iter_input++;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    }</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  }</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  clusters_ = std::vector&lt;pcl::PointIndices&gt; (clusters.begin (), cluster_iter_input);</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  clusters.resize(clusters_.size());</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  deinitCompute ();</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;}</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a510496b033f5261bc0325da4a9ec0e3b">  308</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a510496b033f5261bc0325da4a9ec0e3b">pcl::RegionGrowing&lt;PointT, NormalT&gt;::prepareForSegmentation</a> ()</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;{</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <span class="comment">// if user forgot to pass point cloud or if it is empty</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  <span class="keywordflow">if</span> ( input_-&gt;points.size () == 0 )</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  <span class="comment">// if user forgot to pass normals or the sizes of point and normal cloud are different</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  <span class="keywordflow">if</span> ( normals_ == 0 || input_-&gt;points.size () != normals_-&gt;points.size () )</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  <span class="comment">// if residual test is on then we need to check if all needed parameters were correctly initialized</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  <span class="keywordflow">if</span> (residual_flag_)</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  {</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keywordflow">if</span> (residual_threshold_ &lt;= 0.0f)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  }</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="comment">// if curvature test is on ...</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  <span class="comment">// if (curvature_flag_)</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  <span class="comment">// {</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <span class="comment">//   in this case we do not need to check anything that related to it</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  <span class="comment">//   so we simply commented it</span></div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  <span class="comment">// }</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  <span class="comment">// from here we check those parameters that are always valuable</span></div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <span class="keywordflow">if</span> (neighbour_number_ == 0)</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  <span class="comment">// if user didn&#39;t set search method</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  <span class="keywordflow">if</span> (!search_)</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    search_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  <span class="keywordflow">if</span> (indices_)</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  {</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    <span class="keywordflow">if</span> (indices_-&gt;empty ())</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[pcl::RegionGrowing::prepareForSegmentation] Empty given indices!\n&quot;</span>);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    search_-&gt;setInputCloud (input_, indices_);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  }</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    search_-&gt;setInputCloud (input_);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;}</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00354"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a541edb18fa47990020ceb640186c95dc">  354</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a541edb18fa47990020ceb640186c95dc">pcl::RegionGrowing&lt;PointT, NormalT&gt;::findPointNeighbours</a> ()</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;{</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  <span class="keywordtype">int</span> point_number = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  std::vector&lt;int&gt; neighbours;</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  std::vector&lt;float&gt; distances;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  point_neighbours_.resize (input_-&gt;points.size (), neighbours);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  <span class="keywordflow">if</span> (input_-&gt;is_dense)</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  {</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; point_number; i_point++)</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    {</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      <span class="keywordtype">int</span> point_index = (*indices_)[i_point];</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      neighbours.clear ();</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      search_-&gt;nearestKSearch (i_point, neighbour_number_, neighbours, distances);</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      point_neighbours_[point_index].swap (neighbours);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    }</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  {</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; point_number; i_point++)</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    {</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;      neighbours.clear ();</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      <span class="keywordtype">int</span> point_index = (*indices_)[i_point];</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      <span class="keywordflow">if</span> (!pcl::isFinite (input_-&gt;points[point_index]))</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;      search_-&gt;nearestKSearch (i_point, neighbour_number_, neighbours, distances);</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      point_neighbours_[point_index].swap (neighbours);</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    }</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  }</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;}</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160; </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00387"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#ad9fdb4c1edc24da8b149866dcfc819d5">  387</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#ad9fdb4c1edc24da8b149866dcfc819d5">pcl::RegionGrowing&lt;PointT, NormalT&gt;::applySmoothRegionGrowingAlgorithm</a> ()</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;{</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  <span class="keywordtype">int</span> num_of_pts = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  point_labels_.resize (input_-&gt;points.size (), -1);</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  std::vector&lt; std::pair&lt;float, int&gt; &gt; point_residual;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  std::pair&lt;float, int&gt; pair;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  point_residual.resize (num_of_pts, pair);</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160; </div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  <span class="keywordflow">if</span> (normal_flag_ == <span class="keyword">true</span>)</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  {</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; num_of_pts; i_point++)</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    {</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      <span class="keywordtype">int</span> point_index = (*indices_)[i_point];</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      point_residual[i_point].first = normals_-&gt;points[point_index].curvature;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      point_residual[i_point].second = point_index;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    }</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    std::sort (point_residual.begin (), point_residual.end (), comparePair);</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  }</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  {</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; num_of_pts; i_point++)</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    {</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      <span class="keywordtype">int</span> point_index = (*indices_)[i_point];</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      point_residual[i_point].first = 0;</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      point_residual[i_point].second = point_index;</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    }</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;  }</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  <span class="keywordtype">int</span> seed_counter = 0;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  <span class="keywordtype">int</span> seed = point_residual[seed_counter].second;</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  <span class="keywordtype">int</span> segmented_pts_num = 0;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  <span class="keywordtype">int</span> number_of_segments = 0;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  <span class="keywordflow">while</span> (segmented_pts_num &lt; num_of_pts)</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  {</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;    <span class="keywordtype">int</span> pts_in_segment;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    pts_in_segment = growRegion (seed, number_of_segments);</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    segmented_pts_num += pts_in_segment;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    num_pts_in_segment_.push_back (pts_in_segment);</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    number_of_segments++;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    <span class="comment">//find next point that is not segmented yet</span></div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_seed = seed_counter + 1; i_seed &lt; num_of_pts; i_seed++)</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    {</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      <span class="keywordtype">int</span> index = point_residual[i_seed].second;</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      <span class="keywordflow">if</span> (point_labels_[index] == -1)</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      {</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        seed = index;</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        seed_counter = i_seed;</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;      }</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    }</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  }</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;}</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00444"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a3ac4219f1374555e9dd76a7338905a6d">  444</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a3ac4219f1374555e9dd76a7338905a6d">pcl::RegionGrowing&lt;PointT, NormalT&gt;::growRegion</a> (<span class="keywordtype">int</span> initial_seed, <span class="keywordtype">int</span> segment_number)</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;{</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  std::queue&lt;int&gt; seeds;</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  seeds.push (initial_seed);</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  point_labels_[initial_seed] = segment_number;</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  <span class="keywordtype">int</span> num_pts_in_segment = 1;</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160; </div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  <span class="keywordflow">while</span> (!seeds.empty ())</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;  {</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    <span class="keywordtype">int</span> curr_seed;</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    curr_seed = seeds.front ();</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    seeds.pop ();</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160; </div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    <span class="keywordtype">size_t</span> i_nghbr = 0;</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    <span class="keywordflow">while</span> ( i_nghbr &lt; neighbour_number_ &amp;&amp; i_nghbr &lt; point_neighbours_[curr_seed].size () )</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    {</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;      <span class="keywordtype">int</span> index = point_neighbours_[curr_seed][i_nghbr];</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;      <span class="keywordflow">if</span> (point_labels_[index] != -1)</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;      {</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;        i_nghbr++;</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;      }</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      <span class="keywordtype">bool</span> is_a_seed = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;      <span class="keywordtype">bool</span> belongs_to_segment = validatePoint (initial_seed, curr_seed, index, is_a_seed);</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160; </div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;      <span class="keywordflow">if</span> (belongs_to_segment == <span class="keyword">false</span>)</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;      {</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;        i_nghbr++;</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;      }</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;      point_labels_[index] = segment_number;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;      num_pts_in_segment++;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160; </div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;      <span class="keywordflow">if</span> (is_a_seed)</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      {</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;        seeds.push (index);</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      }</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160; </div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;      i_nghbr++;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;    }<span class="comment">// next neighbour</span></div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;  }<span class="comment">// next seed</span></div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;  <span class="keywordflow">return</span> (num_pts_in_segment);</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;}</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160; </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00494"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a71c8914239d04758cc94e59886b8308a">  494</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a71c8914239d04758cc94e59886b8308a">pcl::RegionGrowing&lt;PointT, NormalT&gt;::validatePoint</a> (<span class="keywordtype">int</span> initial_seed, <span class="keywordtype">int</span> point, <span class="keywordtype">int</span> nghbr, <span class="keywordtype">bool</span>&amp; is_a_seed)<span class="keyword"> const</span></div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;  is_a_seed = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;  <span class="keywordtype">float</span> cosine_threshold = cosf (theta_threshold_);</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;  <span class="keywordtype">float</span> data[4];</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160; </div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;  data[0] = input_-&gt;points[point].data[0];</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;  data[1] = input_-&gt;points[point].data[1];</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;  data[2] = input_-&gt;points[point].data[2];</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;  data[3] = input_-&gt;points[point].data[3];</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;  Eigen::Map&lt;Eigen::Vector3f&gt; initial_point (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (data));</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;  Eigen::Map&lt;Eigen::Vector3f&gt; initial_normal (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (normals_-&gt;points[point].normal));</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160; </div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;  <span class="comment">//check the angle between normals</span></div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;  <span class="keywordflow">if</span> (smooth_mode_flag_ == <span class="keyword">true</span>)</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;  {</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;    Eigen::Map&lt;Eigen::Vector3f&gt; nghbr_normal (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (normals_-&gt;points[nghbr].normal));</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    <span class="keywordtype">float</span> dot_product = fabsf (nghbr_normal.dot (initial_normal));</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;    <span class="keywordflow">if</span> (dot_product &lt; cosine_threshold)</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    {</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    }</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;  }</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;  {</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;    Eigen::Map&lt;Eigen::Vector3f&gt; nghbr_normal (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (normals_-&gt;points[nghbr].normal));</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;    Eigen::Map&lt;Eigen::Vector3f&gt; initial_seed_normal (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (normals_-&gt;points[initial_seed].normal));</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;    <span class="keywordtype">float</span> dot_product = fabsf (nghbr_normal.dot (initial_seed_normal));</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;    <span class="keywordflow">if</span> (dot_product &lt; cosine_threshold)</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;  }</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160; </div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;  <span class="comment">// check the curvature if needed</span></div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;  <span class="keywordflow">if</span> (curvature_flag_ &amp;&amp; normals_-&gt;points[nghbr].curvature &gt; curvature_threshold_)</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;  {</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;    is_a_seed = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;  }</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160; </div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;  <span class="comment">// check the residual if needed</span></div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;  <span class="keywordtype">float</span> data_1[4];</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;  </div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;  data_1[0] = input_-&gt;points[nghbr].data[0];</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;  data_1[1] = input_-&gt;points[nghbr].data[1];</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;  data_1[2] = input_-&gt;points[nghbr].data[2];</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;  data_1[3] = input_-&gt;points[nghbr].data[3];</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;  Eigen::Map&lt;Eigen::Vector3f&gt; nghbr_point (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (data_1));</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;  <span class="keywordtype">float</span> residual = fabsf (initial_normal.dot (initial_point - nghbr_point));</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;  <span class="keywordflow">if</span> (residual_flag_ &amp;&amp; residual &gt; residual_threshold_)</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;    is_a_seed = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160; </div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;}</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160; </div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00550"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#af6effde13de0fe92a2e006dcdcde79ef">  550</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#af6effde13de0fe92a2e006dcdcde79ef">pcl::RegionGrowing&lt;PointT, NormalT&gt;::assembleRegions</a> ()</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;{</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;  <span class="keywordtype">int</span> number_of_segments = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (num_pts_in_segment_.size ());</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;  <span class="keywordtype">int</span> number_of_points = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (input_-&gt;points.size ());</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160; </div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;  <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> segment;</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;  clusters_.resize (number_of_segments, segment);</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160; </div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_seg = 0; i_seg &lt; number_of_segments; i_seg++)</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;  {</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;    clusters_[i_seg].indices.resize ( num_pts_in_segment_[i_seg], 0);</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;  }</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160; </div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;  std::vector&lt;int&gt; counter;</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  counter.resize (number_of_segments, 0);</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160; </div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_points; i_point++)</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;  {</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;    <span class="keywordtype">int</span> segment_index = point_labels_[i_point];</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;    <span class="keywordflow">if</span> (segment_index != -1)</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;    {</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;      <span class="keywordtype">int</span> point_index = counter[segment_index];</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;      clusters_[segment_index].indices[point_index] = i_point;</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;      counter[segment_index] = point_index + 1;</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;    }</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;  }</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160; </div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;  number_of_segments_ = number_of_segments;</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;}</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160; </div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00582"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a72b71b0e82a8080dcd26142968eb21e3">  582</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a72b71b0e82a8080dcd26142968eb21e3">pcl::RegionGrowing&lt;PointT, NormalT&gt;::getSegmentFromPoint</a> (<span class="keywordtype">int</span> index, <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>&amp; cluster)</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;{</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;  cluster.indices.clear ();</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160; </div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;  <span class="keywordtype">bool</span> segmentation_is_possible = initCompute ();</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;  <span class="keywordflow">if</span> ( !segmentation_is_possible )</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;  {</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;    deinitCompute ();</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;  }</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160; </div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  <span class="comment">// first of all we need to find out if this point belongs to cloud</span></div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;  <span class="keywordtype">bool</span> point_was_found = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;  <span class="keywordtype">int</span> number_of_points = <span class="keyword">static_cast &lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> point = 0; point &lt; number_of_points; point++)</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;    <span class="keywordflow">if</span> ( (*indices_)[point] == index)</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;    {</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;      point_was_found = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;    }</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160; </div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  <span class="keywordflow">if</span> (point_was_found)</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;  {</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;    <span class="keywordflow">if</span> (clusters_.empty ())</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;    {</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;      point_neighbours_.clear ();</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;      point_labels_.clear ();</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;      num_pts_in_segment_.clear ();</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;      number_of_segments_ = 0;</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160; </div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;      segmentation_is_possible = prepareForSegmentation ();</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;      <span class="keywordflow">if</span> ( !segmentation_is_possible )</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;      {</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;        deinitCompute ();</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;      }</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160; </div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;      findPointNeighbours ();</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;      applySmoothRegionGrowingAlgorithm ();</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;      assembleRegions ();</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;    }</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;    <span class="comment">// if we have already made the segmentation, then find the segment</span></div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;    <span class="comment">// to which this point belongs</span></div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;    std::vector &lt;pcl::PointIndices&gt;::iterator i_segment;</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;    <span class="keywordflow">for</span> (i_segment = clusters_.begin (); i_segment != clusters_.end (); i_segment++)</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;    {</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;      <span class="keywordtype">bool</span> segment_was_found = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_point = 0; i_point &lt; i_segment-&gt;indices.size (); i_point++)</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;      {</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;        <span class="keywordflow">if</span> (i_segment-&gt;indices[i_point] == index)</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;        {</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;          segment_was_found = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;          cluster.indices.clear ();</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;          cluster.indices.reserve (i_segment-&gt;indices.size ());</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;          std::copy (i_segment-&gt;indices.begin (), i_segment-&gt;indices.end (), std::back_inserter (cluster.indices));</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;        }</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;      }</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;      <span class="keywordflow">if</span> (segment_was_found)</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;      {</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;      }</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;    }<span class="comment">// next segment</span></div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;  }<span class="comment">// end if point was found</span></div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160; </div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;  deinitCompute ();</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;}</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160; </div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; pcl::PointCloud&lt;pcl::PointXYZRGB&gt;::Ptr</div>
<div class="line"><a name="l00652"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#aeb1ae724085424bc60bb4cf27ff27283">  652</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#aeb1ae724085424bc60bb4cf27ff27283">pcl::RegionGrowing&lt;PointT, NormalT&gt;::getColoredCloud</a> ()</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;{</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZRGB&gt;::Ptr colored_cloud;</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160; </div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;  <span class="keywordflow">if</span> (!clusters_.empty ())</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;  {</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;    colored_cloud = (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGB&gt;</a>)-&gt;makeShared ();</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160; </div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;    srand (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (time (0)));</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;    std::vector&lt;unsigned char&gt; colors;</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_segment = 0; i_segment &lt; clusters_.size (); i_segment++)</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;    {</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;      colors.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (rand () % 256));</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;      colors.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (rand () % 256));</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;      colors.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (rand () % 256));</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;    }</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160; </div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;    colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = input_-&gt;width;</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;    colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = input_-&gt;height;</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;    colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = input_-&gt;is_dense;</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_point = 0; i_point &lt; input_-&gt;points.size (); i_point++)</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;    {</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a> point;</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;      point.x = *(input_-&gt;points[i_point].data);</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;      point.y = *(input_-&gt;points[i_point].data + 1);</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;      point.z = *(input_-&gt;points[i_point].data + 2);</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;      point.r = 255;</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;      point.g = 0;</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;      point.b = 0;</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;      colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (point);</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;    }</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160; </div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;    std::vector&lt; pcl::PointIndices &gt;::iterator i_segment;</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;    <span class="keywordtype">int</span> next_color = 0;</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;    <span class="keywordflow">for</span> (i_segment = clusters_.begin (); i_segment != clusters_.end (); i_segment++)</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;    {</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;      std::vector&lt;int&gt;::iterator i_point;</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;      <span class="keywordflow">for</span> (i_point = i_segment-&gt;indices.begin (); i_point != i_segment-&gt;indices.end (); i_point++)</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;      {</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;        <span class="keywordtype">int</span> index;</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;        index = *i_point;</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;        colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index].r = colors[3 * next_color];</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;        colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index].g = colors[3 * next_color + 1];</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;        colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index].b = colors[3 * next_color + 2];</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;      }</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;      next_color++;</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;    }</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;  }</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160; </div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;  <span class="keywordflow">return</span> (colored_cloud);</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;}</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160; </div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::Ptr</div>
<div class="line"><a name="l00706"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a1aed39b32b17e43362d5d72112e6e3d2">  706</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#a1aed39b32b17e43362d5d72112e6e3d2">pcl::RegionGrowing&lt;PointT, NormalT&gt;::getColoredCloudRGBA</a> ()</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;{</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::Ptr colored_cloud;</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160; </div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;  <span class="keywordflow">if</span> (!clusters_.empty ())</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;  {</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;    colored_cloud = (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;</a>)-&gt;makeShared ();</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160; </div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;    srand (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (time (0)));</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;    std::vector&lt;unsigned char&gt; colors;</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_segment = 0; i_segment &lt; clusters_.size (); i_segment++)</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;    {</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;      colors.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (rand () % 256));</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;      colors.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (rand () % 256));</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;      colors.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (rand () % 256));</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;    }</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160; </div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;    colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = input_-&gt;width;</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;    colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = input_-&gt;height;</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;    colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = input_-&gt;is_dense;</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_point = 0; i_point &lt; input_-&gt;points.size (); i_point++)</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;    {</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a> point;</div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;      point.x = *(input_-&gt;points[i_point].data);</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;      point.y = *(input_-&gt;points[i_point].data + 1);</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;      point.z = *(input_-&gt;points[i_point].data + 2);</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;      point.r = 255;</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;      point.g = 0;</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;      point.b = 0;</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;      point.a = 0;</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;      colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (point);</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;    }</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160; </div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;    std::vector&lt; pcl::PointIndices &gt;::iterator i_segment;</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;    <span class="keywordtype">int</span> next_color = 0;</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;    <span class="keywordflow">for</span> (i_segment = clusters_.begin (); i_segment != clusters_.end (); i_segment++)</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;    {</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;      std::vector&lt;int&gt;::iterator i_point;</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;      <span class="keywordflow">for</span> (i_point = i_segment-&gt;indices.begin (); i_point != i_segment-&gt;indices.end (); i_point++)</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;      {</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;        <span class="keywordtype">int</span> index;</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;        index = *i_point;</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;        colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index].r = colors[3 * next_color];</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;        colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index].g = colors[3 * next_color + 1];</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;        colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index].b = colors[3 * next_color + 2];</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;      }</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;      next_color++;</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;    }</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;  }</div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160; </div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;  <span class="keywordflow">return</span> (colored_cloud);</div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;}</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160; </div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_RegionGrowing(T) template class pcl::RegionGrowing&lt;T, pcl::Normal&gt;;</span></div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160; </div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_SEGMENTATION_REGION_GROWING_HPP_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZRGB &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a07f77c72b5c223988455944f8a86dc03"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a07f77c72b5c223988455944f8a86dc03">pcl::RegionGrowing::getResidualTestFlag</a></div><div class="ttdeci">bool getResidualTestFlag() const</div><div class="ttdoc">Returns the flag that signalize if the residual test is turned on/off.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:154</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a1aed39b32b17e43362d5d72112e6e3d2"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a1aed39b32b17e43362d5d72112e6e3d2">pcl::RegionGrowing::getColoredCloudRGBA</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZRGBA &gt;::Ptr getColoredCloudRGBA()</div><div class="ttdoc">If the cloud was successfully segmented, then function returns colored cloud. Otherwise it returns an...</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:706</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a1e3de83fe8e15eccc7f56f4f8762d936"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a1e3de83fe8e15eccc7f56f4f8762d936">pcl::RegionGrowing::setResidualThreshold</a></div><div class="ttdeci">void setResidualThreshold(float residual)</div><div class="ttdoc">Allows to set residual threshold used for testing the points.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:192</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a1f7a093b9cdc5337309cdeabffc1cd92"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a1f7a093b9cdc5337309cdeabffc1cd92">pcl::RegionGrowing::setCurvatureTestFlag</a></div><div class="ttdeci">virtual void setCurvatureTestFlag(bool value)</div><div class="ttdoc">Allows to turn on/off the curvature test. Note that at least one test (residual or curvature) must be...</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:144</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a23191c1b6a711340a91740b3717140ff"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a23191c1b6a711340a91740b3717140ff">pcl::RegionGrowing::setSearchMethod</a></div><div class="ttdeci">void setSearchMethod(const KdTreePtr &amp;tree)</div><div class="ttdoc">Allows to set search method that will be used for finding KNN.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:234</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a26a874b69b4c786886fece175990e727"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a26a874b69b4c786886fece175990e727">pcl::RegionGrowing::setInputNormals</a></div><div class="ttdeci">void setInputNormals(const NormalPtr &amp;norm)</div><div class="ttdoc">This method sets the normals. They are needed for the algorithm, so if no normals will be set,...</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:251</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a32553136086e9bab3f0f9482ae088576"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a32553136086e9bab3f0f9482ae088576">pcl::RegionGrowing::RegionGrowing</a></div><div class="ttdeci">RegionGrowing()</div><div class="ttdoc">Constructor that sets default values for member variables.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a3ac4219f1374555e9dd76a7338905a6d"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a3ac4219f1374555e9dd76a7338905a6d">pcl::RegionGrowing::growRegion</a></div><div class="ttdeci">int growRegion(int initial_seed, int segment_number)</div><div class="ttdoc">This method grows a segment for the given seed point. And returns the number of its points.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:444</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a4d2c77b68143901495b42fd0dfbb241c"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a4d2c77b68143901495b42fd0dfbb241c">pcl::RegionGrowing::setNumberOfNeighbours</a></div><div class="ttdeci">void setNumberOfNeighbours(unsigned int neighbour_number)</div><div class="ttdoc">Allows to set the number of neighbours. For more information check the article.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:220</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a503eb2ff26d2ff282332c62665cdf451"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a503eb2ff26d2ff282332c62665cdf451">pcl::RegionGrowing::getMinClusterSize</a></div><div class="ttdeci">int getMinClusterSize()</div><div class="ttdoc">Get the minimum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:95</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a510496b033f5261bc0325da4a9ec0e3b"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a510496b033f5261bc0325da4a9ec0e3b">pcl::RegionGrowing::prepareForSegmentation</a></div><div class="ttdeci">virtual bool prepareForSegmentation()</div><div class="ttdoc">This method simply checks if it is possible to execute the segmentation algorithm with the current se...</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:308</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a51294408aa0da3e72690e9ab03bae90d"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a51294408aa0da3e72690e9ab03bae90d">pcl::RegionGrowing::setMaxClusterSize</a></div><div class="ttdeci">void setMaxClusterSize(int max_cluster_size)</div><div class="ttdoc">Set the maximum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:116</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a541edb18fa47990020ceb640186c95dc"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a541edb18fa47990020ceb640186c95dc">pcl::RegionGrowing::findPointNeighbours</a></div><div class="ttdeci">virtual void findPointNeighbours()</div><div class="ttdoc">This method finds KNN for each point and saves them to the array because the algorithm needs to find ...</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:354</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a60c617a3f8cccfa6c5f5d7e41c7ad14e"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a60c617a3f8cccfa6c5f5d7e41c7ad14e">pcl::RegionGrowing::getInputNormals</a></div><div class="ttdeci">NormalPtr getInputNormals() const</div><div class="ttdoc">Returns normals.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:244</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a6463a53955895a5688dddbfcc8c173c2"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a6463a53955895a5688dddbfcc8c173c2">pcl::RegionGrowing::getCurvatureThreshold</a></div><div class="ttdeci">float getCurvatureThreshold() const</div><div class="ttdoc">Returns curvature threshold.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:199</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a71c8914239d04758cc94e59886b8308a"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a71c8914239d04758cc94e59886b8308a">pcl::RegionGrowing::validatePoint</a></div><div class="ttdeci">virtual bool validatePoint(int initial_seed, int point, int nghbr, bool &amp;is_a_seed) const</div><div class="ttdoc">This function is checking if the point with index 'nghbr' belongs to the segment. If so,...</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:494</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a72b71b0e82a8080dcd26142968eb21e3"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a72b71b0e82a8080dcd26142968eb21e3">pcl::RegionGrowing::getSegmentFromPoint</a></div><div class="ttdeci">virtual void getSegmentFromPoint(int index, pcl::PointIndices &amp;cluster)</div><div class="ttdoc">For a given point this function builds a segment to which it belongs and returns this segment.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:582</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a7bef7a2920c179c99928acc7474c41ab"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a7bef7a2920c179c99928acc7474c41ab">pcl::RegionGrowing::getMaxClusterSize</a></div><div class="ttdeci">int getMaxClusterSize()</div><div class="ttdoc">Get the maximum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:109</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a8a01f23a15454f9c214be1319ff88cc8"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a8a01f23a15454f9c214be1319ff88cc8">pcl::RegionGrowing::getResidualThreshold</a></div><div class="ttdeci">float getResidualThreshold() const</div><div class="ttdoc">Returns residual threshold.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:185</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a942fc25d32886ee34262e7ff3fe675bf"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a942fc25d32886ee34262e7ff3fe675bf">pcl::RegionGrowing::getSmoothnessThreshold</a></div><div class="ttdeci">float getSmoothnessThreshold() const</div><div class="ttdoc">Returns smoothness threshold.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:171</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a9a9fdb648434826b0bf7cd1a616f85f5"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a9a9fdb648434826b0bf7cd1a616f85f5">pcl::RegionGrowing::getSearchMethod</a></div><div class="ttdeci">KdTreePtr getSearchMethod() const</div><div class="ttdoc">Returns the pointer to the search method that is used for KNN.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:227</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a9ef8286d7ced3ff97667653b96a4bd21"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a9ef8286d7ced3ff97667653b96a4bd21">pcl::RegionGrowing::extract</a></div><div class="ttdeci">virtual void extract(std::vector&lt; pcl::PointIndices &gt; &amp;clusters)</div><div class="ttdoc">This method launches the segmentation algorithm and returns the clusters that were obtained during th...</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:261</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_aa649d6423eb7c7e247d9a09bd39ec5e1"><div class="ttname"><a href="classpcl_1_1_region_growing.html#aa649d6423eb7c7e247d9a09bd39ec5e1">pcl::RegionGrowing::getNumberOfNeighbours</a></div><div class="ttdeci">unsigned int getNumberOfNeighbours() const</div><div class="ttdoc">Returns the number of nearest neighbours used for KNN.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:213</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_aa86a85c140e251c5a5d4223482678134"><div class="ttname"><a href="classpcl_1_1_region_growing.html#aa86a85c140e251c5a5d4223482678134">pcl::RegionGrowing::getCurvatureTestFlag</a></div><div class="ttdeci">bool getCurvatureTestFlag() const</div><div class="ttdoc">Returns the flag that signalize if the curvature test is turned on/off.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:137</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_aaa88700937bc1090bfca521a93b80f71"><div class="ttname"><a href="classpcl_1_1_region_growing.html#aaa88700937bc1090bfca521a93b80f71">pcl::RegionGrowing::setSmoothnessThreshold</a></div><div class="ttdeci">void setSmoothnessThreshold(float theta)</div><div class="ttdoc">Allows to set smoothness threshold used for testing the points.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:178</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_abd5307cad362027812ce6703af129046"><div class="ttname"><a href="classpcl_1_1_region_growing.html#abd5307cad362027812ce6703af129046">pcl::RegionGrowing::~RegionGrowing</a></div><div class="ttdeci">virtual ~RegionGrowing()</div><div class="ttdoc">This destructor destroys the cloud, normals and search method used for finding KNN....</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:80</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_ac040a7d547bb09b295386045725aa848"><div class="ttname"><a href="classpcl_1_1_region_growing.html#ac040a7d547bb09b295386045725aa848">pcl::RegionGrowing::setMinClusterSize</a></div><div class="ttdeci">void setMinClusterSize(int min_cluster_size)</div><div class="ttdoc">Set the minimum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:102</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_ad1846b7d16b40f3187c42c81b80abc79"><div class="ttname"><a href="classpcl_1_1_region_growing.html#ad1846b7d16b40f3187c42c81b80abc79">pcl::RegionGrowing::setResidualTestFlag</a></div><div class="ttdeci">virtual void setResidualTestFlag(bool value)</div><div class="ttdoc">Allows to turn on/off the residual test. Note that at least one test (residual or curvature) must be ...</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:161</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_ad7554b09a34b2997992c44b947d4ac07"><div class="ttname"><a href="classpcl_1_1_region_growing.html#ad7554b09a34b2997992c44b947d4ac07">pcl::RegionGrowing::setCurvatureThreshold</a></div><div class="ttdeci">void setCurvatureThreshold(float curvature)</div><div class="ttdoc">Allows to set curvature threshold used for testing the points.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:206</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_ad9fdb4c1edc24da8b149866dcfc819d5"><div class="ttname"><a href="classpcl_1_1_region_growing.html#ad9fdb4c1edc24da8b149866dcfc819d5">pcl::RegionGrowing::applySmoothRegionGrowingAlgorithm</a></div><div class="ttdeci">void applySmoothRegionGrowingAlgorithm()</div><div class="ttdoc">This function implements the algorithm described in the article &quot;Segmentation of point clouds using s...</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:387</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_ae14b6b9cb6a6aaf8872c3c965f2e6e00"><div class="ttname"><a href="classpcl_1_1_region_growing.html#ae14b6b9cb6a6aaf8872c3c965f2e6e00">pcl::RegionGrowing::getSmoothModeFlag</a></div><div class="ttdeci">bool getSmoothModeFlag() const</div><div class="ttdoc">Returns the flag value. This flag signalizes which mode of algorithm will be used....</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:123</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_aeb1ae724085424bc60bb4cf27ff27283"><div class="ttname"><a href="classpcl_1_1_region_growing.html#aeb1ae724085424bc60bb4cf27ff27283">pcl::RegionGrowing::getColoredCloud</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr getColoredCloud()</div><div class="ttdoc">If the cloud was successfully segmented, then function returns colored cloud. Otherwise it returns an...</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:652</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_af10c614af98ec42bacf015f7db6b9935"><div class="ttname"><a href="classpcl_1_1_region_growing.html#af10c614af98ec42bacf015f7db6b9935">pcl::RegionGrowing::setSmoothModeFlag</a></div><div class="ttdeci">void setSmoothModeFlag(bool value)</div><div class="ttdoc">This function allows to turn on/off the smoothness constraint.</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:130</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_af6effde13de0fe92a2e006dcdcde79ef"><div class="ttname"><a href="classpcl_1_1_region_growing.html#af6effde13de0fe92a2e006dcdcde79ef">pcl::RegionGrowing::assembleRegions</a></div><div class="ttdeci">void assembleRegions()</div><div class="ttdoc">This function simply assembles the regions from list of point labels. Each cluster is an array of poi...</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:550</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGB color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:607</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_20ddda488709b7b18816b240f9df52db.html">segmentation</a></li><li class="navelem"><a class="el" href="dir_d73ea44817f729d5e7cf775c9e236264.html">include</a></li><li class="navelem"><a class="el" href="dir_864cadfcf76019fd9a0a836ee881d655.html">pcl</a></li><li class="navelem"><a class="el" href="dir_75b522e316e1b3af642e1cdb6b6108b7.html">segmentation</a></li><li class="navelem"><a class="el" href="dir_3d95367f2608afa51d57aef6016d65f7.html">impl</a></li><li class="navelem"><b>region_growing.hpp</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
